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<div class="title">range_image_visualizer.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/range_image.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/image_viewer.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>visualization</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html">   54</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html">RangeImageVisualizer</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1visualization_1_1_image_viewer.html">ImageViewer</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#aebefd38047215956098a2a667504618e">   59</a></span>&#160;<span class="comment"></span>        <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#aebefd38047215956098a2a667504618e">RangeImageVisualizer</a> (<span class="keyword">const</span> std::string&amp; name=<span class="stringliteral">&quot;Range Image&quot;</span>);</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#af026cee44f88cf5d5e747d61ad45e7f4">   61</a></span>&#160;        <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#af026cee44f88cf5d5e747d61ad45e7f4">~RangeImageVisualizer</a> ();</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="comment">// =====PUBLIC STATIC METHODS=====</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a777d82b8d34e6764f6563e62b82bb40b">   66</a></span>&#160;<span class="comment"></span>        <span class="keyword">static</span> <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html">RangeImageVisualizer</a>* <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a777d82b8d34e6764f6563e62b82bb40b">getRangeImageWidget</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">pcl::RangeImage</a>&amp; range_image, <span class="keywordtype">float</span> min_value,</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                                                  <span class="keywordtype">float</span> max_value, <span class="keywordtype">bool</span> grayscale, <span class="keyword">const</span> std::string&amp; name=<span class="stringliteral">&quot;Range image&quot;</span>);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a9f15b980ed5a02f80ddc9c954d26fd5a">   71</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a9f15b980ed5a02f80ddc9c954d26fd5a">visualizeBorders</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">pcl::RangeImage</a>&amp; range_image, <span class="keywordtype">float</span> min_value, <span class="keywordtype">float</span> max_value, <span class="keywordtype">bool</span> grayscale,</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::BorderDescription&gt;</a>&amp; border_descriptions);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#ab2e834e3bb39d57e5a72bf8558601992">   75</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html">RangeImageVisualizer</a>* <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#ab2e834e3bb39d57e5a72bf8558601992">getRangeImageBordersWidget</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">pcl::RangeImage</a>&amp; range_image, <span class="keywordtype">float</span> min_value,</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                      <span class="keywordtype">float</span> max_value, <span class="keywordtype">bool</span> grayscale, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::BorderDescription&gt;</a>&amp; border_descriptions,</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                      <span class="keyword">const</span> std::string&amp; name=<span class="stringliteral">&quot;Range image with borders&quot;</span>);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#af08ad10e011652e5d7e81f71e776301b">   82</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html">RangeImageVisualizer</a>* <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#af08ad10e011652e5d7e81f71e776301b">getAnglesWidget</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">pcl::RangeImage</a>&amp; range_image, <span class="keywordtype">float</span>* angles_image, <span class="keyword">const</span> std::string&amp; name);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#adc27b83e1871fdbaaf0b943acfc9af23">   87</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html">RangeImageVisualizer</a>* <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#adc27b83e1871fdbaaf0b943acfc9af23">getHalfAnglesWidget</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">pcl::RangeImage</a>&amp; range_image, <span class="keywordtype">float</span>* angles_image, <span class="keyword">const</span> std::string&amp; name);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a309725c6999c7e30f8d4c7811a9da0ed">   93</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html">RangeImageVisualizer</a>* <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a309725c6999c7e30f8d4c7811a9da0ed">getInterestPointsWidget</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">pcl::RangeImage</a>&amp; range_image, <span class="keyword">const</span> <span class="keywordtype">float</span>* interest_image, <span class="keywordtype">float</span> min_value, <span class="keywordtype">float</span> max_value,</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                                                              <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::InterestPoint&gt;</a>&amp; interest_points, <span class="keyword">const</span> std::string&amp; name);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="comment">// =====PUBLIC METHODS=====</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="comment"></span>        <span class="comment">/* void  */</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="comment">/* setRangeImage (const pcl::RangeImage&amp; range_image,  */</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="comment">/*                float min_value = -std::numeric_limits&lt;float&gt;::infinity (),  */</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="comment">/*                float max_value =  std::numeric_limits&lt;float&gt;::infinity (),  */</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="comment">/*                bool grayscale  = false); */</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#ab03794d9696f99c0cd7a4f5c3525d83c">  105</a></span>&#160;        <a class="code" href="classpcl_1_1visualization_1_1_range_image_visualizer.html#ab03794d9696f99c0cd7a4f5c3525d83c">showRangeImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">pcl::RangeImage</a>&amp; range_image, </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                       <span class="keywordtype">float</span> min_value = -std::numeric_limits&lt;float&gt;::infinity (), </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                       <span class="keywordtype">float</span> max_value =  std::numeric_limits&lt;float&gt;::infinity (), </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                       <span class="keywordtype">bool</span> grayscale  = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="comment">// =====PROTECTED MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        std::string name_;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    };</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html"><div class="ttname"><a href="classpcl_1_1_range_image.html">pcl::RangeImage</a></div><div class="ttdoc">RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...</div><div class="ttdef"><b>Definition:</b> range_image.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_image_viewer_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_image_viewer.html">pcl::visualization::ImageViewer</a></div><div class="ttdoc">ImageViewer is a class for 2D image visualization.</div><div class="ttdef"><b>Definition:</b> image_viewer.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html">pcl::visualization::RangeImageVisualizer</a></div><div class="ttdoc">Range image visualizer class.</div><div class="ttdef"><b>Definition:</b> range_image_visualizer.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_a309725c6999c7e30f8d4c7811a9da0ed"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a309725c6999c7e30f8d4c7811a9da0ed">pcl::visualization::RangeImageVisualizer::getInterestPointsWidget</a></div><div class="ttdeci">static RangeImageVisualizer * getInterestPointsWidget(const pcl::RangeImage &amp;range_image, const float *interest_image, float min_value, float max_value, const pcl::PointCloud&lt; pcl::InterestPoint &gt; &amp;interest_points, const std::string &amp;name)</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_a777d82b8d34e6764f6563e62b82bb40b"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a777d82b8d34e6764f6563e62b82bb40b">pcl::visualization::RangeImageVisualizer::getRangeImageWidget</a></div><div class="ttdeci">static RangeImageVisualizer * getRangeImageWidget(const pcl::RangeImage &amp;range_image, float min_value, float max_value, bool grayscale, const std::string &amp;name=&quot;Range image&quot;)</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_a9f15b980ed5a02f80ddc9c954d26fd5a"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#a9f15b980ed5a02f80ddc9c954d26fd5a">pcl::visualization::RangeImageVisualizer::visualizeBorders</a></div><div class="ttdeci">void visualizeBorders(const pcl::RangeImage &amp;range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud&lt; pcl::BorderDescription &gt; &amp;border_descriptions)</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_ab03794d9696f99c0cd7a4f5c3525d83c"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#ab03794d9696f99c0cd7a4f5c3525d83c">pcl::visualization::RangeImageVisualizer::showRangeImage</a></div><div class="ttdeci">void showRangeImage(const pcl::RangeImage &amp;range_image, float min_value=-std::numeric_limits&lt; float &gt;::infinity(), float max_value=std::numeric_limits&lt; float &gt;::infinity(), bool grayscale=false)</div><div class="ttdoc">Visualize a range image</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_ab2e834e3bb39d57e5a72bf8558601992"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#ab2e834e3bb39d57e5a72bf8558601992">pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget</a></div><div class="ttdeci">static RangeImageVisualizer * getRangeImageBordersWidget(const pcl::RangeImage &amp;range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud&lt; pcl::BorderDescription &gt; &amp;border_descriptions, const std::string &amp;name=&quot;Range image with borders&quot;)</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_adc27b83e1871fdbaaf0b943acfc9af23"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#adc27b83e1871fdbaaf0b943acfc9af23">pcl::visualization::RangeImageVisualizer::getHalfAnglesWidget</a></div><div class="ttdeci">static RangeImageVisualizer * getHalfAnglesWidget(const pcl::RangeImage &amp;range_image, float *angles_image, const std::string &amp;name)</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_aebefd38047215956098a2a667504618e"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#aebefd38047215956098a2a667504618e">pcl::visualization::RangeImageVisualizer::RangeImageVisualizer</a></div><div class="ttdeci">RangeImageVisualizer(const std::string &amp;name=&quot;Range Image&quot;)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_af026cee44f88cf5d5e747d61ad45e7f4"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#af026cee44f88cf5d5e747d61ad45e7f4">pcl::visualization::RangeImageVisualizer::~RangeImageVisualizer</a></div><div class="ttdeci">~RangeImageVisualizer()</div><div class="ttdoc">Destructor</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_range_image_visualizer_html_af08ad10e011652e5d7e81f71e776301b"><div class="ttname"><a href="classpcl_1_1visualization_1_1_range_image_visualizer.html#af08ad10e011652e5d7e81f71e776301b">pcl::visualization::RangeImageVisualizer::getAnglesWidget</a></div><div class="ttdeci">static RangeImageVisualizer * getAnglesWidget(const pcl::RangeImage &amp;range_image, float *angles_image, const std::string &amp;name)</div></div>
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